公开(公告)号：US20210213940A1

公开(公告)日：2021-07-15

申请号：US17213623

申请日：2021-03-26

Applicant: Beijing Baidu Netcom Science and Technology Co., Ltd.

Inventor： Teng Zhang

IPC: B60W30/06 ,  G06T7/73 ,  G06T7/246 ,  G01C21/34 ,  B60W60/00 ,  G01C21/30

Abstract: Methods, apparatuses, device, and storage media for autonomous parking are provided. A method for autonomous parking includes determining a recommended driving route for autonomous parking; determining a position of a vehicle in the recommended driving route; determining whether the position of the vehicle is in a first road environment; and in response to determining that the vehicle is in the first road environment, determining a driving trajectory point of the vehicle in the first road environment based on the acquired image information of the first road environment and according to a pre-trained driving model.

公开(公告)号：US11940803B2

公开(公告)日：2024-03-26

申请号：US17216208

申请日：2021-03-29

Applicant: BEIJING BAIDU NETCOM SCIENCE AND TECHNOLOGY CO., LTD.

Inventor： Teng Zhang

IPC: G05D1/02 ,  B60W60/00 ,  G05D1/00 ,  G06N5/04 ,  G06N20/00

CPC classification number: G05D1/0221 ,  B60W60/001 ,  G05D1/0246 ,  G06N5/04 ,  G06N20/00 ,  B60W2420/42 ,  B60W2554/20 ,  B60W2554/402 ,  B60W2554/4029 ,  B60W2555/60

Abstract: A method for training a trajectory planning model, an apparatus, and computer storage medium are provided. The method may include: obtaining an image of a physical environment in which a vehicle is located via at least one sensor of the vehicle, the image including multiple objects surrounding the vehicle; obtaining a feature chart indicating multiple initial trajectory points of the vehicle in the image from a trajectory planning model based on the image; identifying the image to determine in the image a first area associated with a road object in multiple objects and a second area associated with a non-road object in the multiple objects; determining a planning trajectory point based on positional relationship of the multiple initial trajectory points with respect to the first area and the second area; and training a trajectory planning model based on the planning track point and the actual trajectory point of the vehicle.

公开(公告)号：US11698262B2

公开(公告)日：2023-07-11

申请号：US17221309

申请日：2021-04-02

Applicant: BEIJING BAIDU NETCOM SCIENCE AND TECHNOLOGY CO., LTD.

Inventor： Teng Zhang

IPC: G01C21/34 ,  G01C21/20

CPC classification number: G01C21/3484 ,  G01C21/20 ,  G01C21/343

Abstract: A method and an apparatus for generating a route planning model and a storage medium are provided. The method for generating a route planning model includes: obtaining a target route data set associated with a target site; and determining a target route planning model of the target site with a site optimization object corresponding to the target site, based on the target route data set and a first route planning model; wherein the first route planning model is determined based on a set of historical route data through at least a first training, the set of historical route data being associated with a plurality of sites different from the target site and a first training optimization object for the first training corresponding to the plurality of sites.